Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
This paper introduces a novel software, opt4imu, for motion estimation from Inertial Measurement Units (IMUs). The software currently supports four types of optimization algorithms for error reduction, which fuse loop closures and zero velocity and gravity direction, and so on. Potential applications include sports racket/bat swing capture and gait estimation from foot-mounted IMUs, as well as mobile robot localization from external sensor pods. Our experiments demonstrate a significant reduction in processing time, achieving results in less than one-tenth of the time compared to previous MATLAB implementations. The software will be available under open source license at https://github.com/kiyoshiiriemon/opt4imu.
